Dagens robotindustri har som mål att bygga billigare och lättare robotar, vilket ger allt vekare robotar. Denna rapport studerar identifiering och reglering med en extra armsensor ? accelerometer ? på en flexibel industrirobot. Studien har skett både simulerat och experimentellt på en industrirobot.Vid identifiering med accelerometer befinner sig accelerometern i ett roterande koordinatsystem. Denna rapport presenterar en kompenseringsalgoritm för att transformera signalerna från det roterande koordinatsystemet till ett rumsfast koordinatsystem.I denna rapport presenteras regulatorstrukturerna I-PID, II^2-PID och LQG, vilka alla återkopplar motorvinkel och armvinkelacceleration.

Problem: The Swedish wage-setting has changed since the time for the breakthrough of the industrialism until today. Before that, wages often consisted of perquisites or goods that could be exchanged against other goods. Rural people were often self-sufficient. In some cases the farmer owned the land, in other cases they where tenants. At the time for the breakthrough of industrialism the demand for similar labour were increased.

Undersökningen handlade om stress, coping och utbrändhet bland anställda inom den kommunala hemtjänsten. Syftet med undersökningen var dels att undersöka sambanden mellan upplevd stress och tre dimensioner av utbrändhet (emotionell utmattning, cynism och prestationsförmåga), dels att undersöka vilka copingstrategier som är associerade med dessa utbrändhetsdimensioner. Ytterliggare ett syfte var att undersöka om de anställda kunde karaktä-riseras som utbrända. Ett frågeformulär distribuerades till 100 anställda inom den kommunala hemtjänsten i Malmö svarsfrekvensen var 41 %. Stress mättes med Perceived Stress Scale (PSS), coping har mättes med Brief COPE och utbrändhet mättes med Maslachs Burnout Inventory (MBI).

The aim of this thesis is to study and analyze a village in the southern of Sweden called Gnosjö, which is famous for a special spirit of industrial success and entrepreneurship. Gnosjö has been successful and famous for many years but is now standing in front of several threats, like a growing number of out moving inhabitants, a low standard of education and difficulties for women to make carrier. Trying to reduce the threat of young inhabitants moving out, a new education program started three years ago with the purpose to make young students to be more interested in the technical development of the industry and make them stay in the district and hopefully be entrepreneurs.The research questions are; which consequences does ?Entekprogrammet? and the background of the students have on the students view on the spirit of Gnosjö, carrier in the local industries and wish of staying or moving from Gnosjö. Furthermore, I want to see if there are any differences between the girls and the boys, does sex have an influence on the view at the future? The study is made by qualitative and quantitative method.

BakgrundI dagens samhälle är diagnos är ett sätt att kategorisera. Vi har undersökt erfarenheter från vårdnadshavare till barn med neuropsykiatriska diagnoser så som ADHD, Autism och Asperger. Dessa diagnoser kommer att beskrivas och vi diskuterar normalitetsbegreppet samt integrering, segregering och inkludering. Vår teoretiska utgångpunkt är det biologiska perspektivet, det miljöbetingade perspektivet samt perspektiv på segregering och kategorisering.SyfteSyftet med den här undersökningen är att ta del av fem individers personliga erfarenheter av diagnostisering och dess inverkan. Med inverkan syftar vi på om barnet upplevs få en sämre/ bättre vardag och om diagnosen skapar möjligheter respektive hinder för barnet och dess familj.

In this bachelor thesis, diagnostic methods for one of Siemens stem inlet control valves have been developed. The work has taken place during ten weeks at Siemens Industrial Turbomachinery AB in Finspång. The company produce steam- and gas turbines and also provides service and maintenance. The purpose with this project has been to develop diagnostic methods that oversee the health of the control valves. By using the developed methods you will know when it?s time for maintenance.

The thesis work was conducted with the company Free2Move AB. The company is located in Halmstad and is an acting provider of wireless communications for industrial customers, mainly focused on Bluetooth? technology.In today's society most people have their music on their computer, MP3 player or mobile phone. What if you could avoid the cable between your sound system and sound source and transfer music wirelessly instead? Together with the company's engineers, I have developed a new comprehensive product for wireless music transmission.

The idea to develop  a platform for a PID-controller came from the need to control the temperature in  an espresso machine in a more exact way than a thermostat could perform. In discussions with Syntronic AB the idea developed into PID-control for industrial use. Syntronic AB suggested that the platform should be based on a commercially available processor module to shorten the development time. The suggestion included the use of the microcomputer Raspberry Pi, which supports USB, HDMI, memory card and Ethernet.The work began with establishing a schedule for the 10 weeks of the projects duration, and after that a system specification listing all functions, implementation and limitations was made. When the foundation of the system specification was done, a preliminary system design took shape.Because of the Raspberry Pi´s lack of Analog-to-Digital converter, a circuit board containing Wheatstone bridges, differential amplifiers and a two channel Analog-to-Digital converter was fabricated.

Abstract.The levels of dioxin and comparable substances rose to a large extent in our environment during the second half of the 20'Th century. This was the result of the synthesis of, and careless usage of these substances in cooling fluids, hydraulics, pesticides etc. Background levels of dioxins and furans in sealed samples prior to this era suggest that former sources of these substances existed. Salt glazing is a method of adding a smooth acid resistant exterior to stoneware ceramics. The technique has been in use since the 16'Th century, maybe even earlier than that.

For a long time the Swedish forests were used by the landowner?s mainly for providing wood to the household itself. The wood was not, to a greater extent, considered a product to be sold. During the 1800s the industrial era led to a demanding need for wood in the industry and thus the use of forest, forest production kicked off. The forest production was not regulated by law, which led to a differentiated forest production over the whole country without consideration of re-growth.

Undersökningen omfattar företag som har tagit emot elever både under den traditionella och under den nya praon. praon är skolans samverkan me dnäringslivet och syftet är att ge en blid över hur företagen i kommunen ser på den nya praon och dess förändring. Det finns en allmän verdertagen uppfattning om att lärare och elever har mottagit den nya praon med visst missnöje. En enkät har utformats och sänts till 65 företag, kommun och landsting. Av de 65 företag, kommun och landsting svarade 37 stycken.

Forecasting stock market returns is an interesting topic since more and more Swedes enter and invest in this market. Theory implies, however, that such exercises should be impossible. The aim of this thesis is to investigate the possibility to forecast future stock returns by looking at macroeconomic variables? history. The study is limited to the Swedish market as it is based on the OMXS30-index which represents the 30 most exchanged stocks on Stockholms¬börsen, the Swedish stock exchange.

Electrolux Laundry Systems is the world leader in manufacturing professional laundry equipment.The machines are used in the hotel sector, elderly care, in multifamily houses, laundry bars, and incommercial and institutional laundries.If there is oil or grease left in the clothes after washing may the heat from the dryer cause a chemicalreaction. This reaction may, under certain circumstances cause a fire inside the drum. Competitors toElectrolux has developed its own systems that extinguishes fire inside a tumble dryer and customershave expressed desire to purchase a fire-extinguishing system. Therefore, the project team receivedthe task by Electrolux to develop a fire-extinguishing system that extinguishes a fire in a tumbledryer.The purpose of the project has been to develop a system that both detects and responds to fire in anindustrial tumble dryer to meet the competitors and to satisfy customers' requirements.The goal was to develop a fire-extinguishing system for Electrolux Laundry Systems and develop afully functioning prototype.The project began with information searches on a variety of methods to both detect and extinguish afire. Subsequently, a number of different methods were used to develop a final solution and make aprototype.The result of the project is a fire-extinguishing system that extinguishes a fire inside a dryer.

Abstract.The levels of dioxin and comparable substances rose to a large extent in our environment during the second half of the 20'Th century. This was the result of the synthesis of, and careless usage of these substances in cooling fluids, hydraulics, pesticides etc. Background levels of dioxins and furans in sealed samples prior to this era suggest that former sources of these substances existed. Salt glazing is a method of adding a smooth acid resistant exterior to stoneware ceramics. The technique has been in use since the 16'Th century, maybe even earlier than that.

Bakgrund: Ett grundläggande emotionellt behov hos människan är fysisk beröring, som vid vissa sjukdomstillstånd kan vara svåra att tillfredsställa inom vården. Effekten av beröringen gör att människan blir mer avslappnad, samma effekt kan en person få från fysisk beröring av sällskapsdjur. Djurassisterad terapi kan användas som en kompletteringsbehandling inom sjukvården.Syfte: Att beskriva vilka djurarter som används i djurassisterad terapi och på vilket sätt de kan användas i vården för rehabilitering och habilitering av patienter. Syftet var vidare att beskriva om det har effekt på hälsan och i så fall vilken effekt det har.Metod: Litteraturstudie med 11 utvalda artiklar från databaserna CINAHL, PubMed och Google scholar. Artiklarnas kvalitet granskades, resultaten analyserades och presenteras efter studiens frågeställningar.Huvudresultat: Flertalet djurarter kan användas för djurassisterad terapi vid både psykisk och fysisk ohälsa.